Files - makerforgetech/modular-biped GitHub Wiki
This project utilises 3D printed parts to assemble the bipedal robot structure. The files for these are available on OnShape, and can be downloaded from there. The links below will take you to the relevant OnShape documents.
OnShape currently offers a free account which can be used to view and download the files. If you wish to edit the files, you will need to create an account and copy the files to your own workspace.
Raspberry Pi 5 Support
There is a video series on the progress integrating the new Raspberry Pi 5: Pi 5 Build Logs
Overview
This project utilises 3D printed parts to assemble the bipedal robot structure. The files for these are available on OnShape, and can be downloaded from there. The links below will take you to the relevant OnShape documents.
OnShape currently offers a free account which can be used to view and download the files. If you wish to edit the files, you will need to create an account and copy the files to your own workspace.
Bearings and other components
In addition to the 3D printed parts you will need bearings for the joints. The diameter of the bearings has been chosen to assist in availability, as these bearings are commonly available.
Leg and neck pan bearing: 13X 608ZZ Skateboard Bearings ABEC-7 [8 * 22 * 7mm] Hip and neck tilt bearings: 6X Mini Ball Bearings 693ZZ Small Double Shielded Bearing [3 * 8 * 4mm]
In addition, 6X 7.5mm diameter bolts (with nuts) should be used to assemble the legs, minimum length of 45mm.
The rest of the components are assembled using nylon screws and spacers: "M3 Hex Nylon Standoff Spacer Column PCB Fixed Plastic Spacing Screws".
The LED eye is covered with a single cabochon, which can be purchased from eBay or other online stores.
Required electronics will be listed in the Electronics page.
Assembly Guide
The assembly of the full robot has been created in OnShape to assist in the build process. This can be viewed here.
3d Printed Parts (Bill of Materials)
| Item | Quantity | Name |
|---|---|---|
| 1 | 1 | Neck Assembly |
| 1.1 | 1 | Body Assembly |
| 1.1.1 | 1 | Battery Front Panel |
| 1.1.2 | 1 | Battery Left Panel |
| 1.1.3 | 1 | Battery Panel |
| 1.1.4 | 1 | Battery Right Panel |
| 1.1.5 | 1 | Cradle |
| 1.1.6 | 2 | Large Shelf |
| 1.1.7 | 1 | Large Shelf (clone) |
| 1.1.8 | 1 | Left Side Panel |
| 1.1.9 | 1 | Mount |
| 1.1.10 | 1 | Mount (mirror) |
| 1.1.11 | 1 | Power Back |
| 1.1.12 | 1 | Power Front |
| 1.1.13 | 1 | Right Side Panel |
| 1.1.14 | 1 | Switch Face |
| 1.1.15 | 1 | Voltmeter |
| 1.2 | 1 | PanServoMount |
| 1.3 | 1 | ServoArm |
| 1.4 | 1 | ServoArmExt |
| 1.5 | 1 | ServoHorn |
| 1.6 | 1 | Support |
| 1.7 | 1 | Support (mirror) |
| 2 | 1 | Head Assembly |
| 2.1 | 1 | Camera Cap |
| 2.2 | 1 | DCDC Mount |
| 2.3 | 1 | Ear Inner |
| 2.4 | 1 | Ear Outer |
| 2.5 | 1 | Face |
| 2.6 | 1 | Lens |
| 2.7 | 1 | Lower |
| 2.8 | 1 | Middle |
| 2.9 | 1 | Servo Mount |
| 2.10 | 1 | Upper (reduced) |
| 3 | 1 | Leg Assembly |
| 3.1 | 2 | Gear Support |
| 3.2 | 2 | Gear Support Shim |
| 3.3 | 2 | Outer Spacer |
| 3.4 | 4 | Servo Mount |
| 3.5 | 2 | Servo Mount Spacer |
| 3.6 | 2 | Leg v3 v24 |
| 3.7 | 1 | Bearing Spacer |
| 3.8 | 1 | Lower Drive |
| 3.9 | 1 | Screw Spacer |
| 3.10 | 3 | Herring1.55.18t.mnt |
| 3.11 | 1 | Drive (full - 1.55) |
| 4 | 1 | Right Leg Assembly |
| 4.1 | 2 | Gear Support |
| 4.2 | 2 | Gear Support Shim |
| 4.3 | 2 | Outer Spacer |
| 4.4 | 4 | Servo Mount |
| 4.5 | 2 | Servo Mount Spacer |
| 4.6 | 2 | Leg v3 v24 |
| 4.7 | 1 | Bearing Spacer |
| 4.8 | 1 | Lower Drive |
| 4.9 | 1 | Screw Spacer |
| 4.10 | 3 | Herring1.55.18t.mnt |
| 4.11 | 1 | Drive (full - 1.55) |
Build guide
There is a build guide available on the YouTube channel that covers assembly of the head and leg components.
Leg
Latest Update
A complete rebuild of the leg section to improve the design
- Leg v4 - Includes an improved version of the leg joint with variables that can be used to adjust the size around different servos.
This version uses 40mm M3 metal bolts and captive nuts to hold the leg joint together as a single piece making it easier to assemble and more robust.
Original Parts
These are the original parts for the leg section, but have been replaced by the v4 update above
- Leg section - Holds servos and connects joints. 4 needed per leg
- Spacer - Attaches between
leg sectionanddriveorinner drive. 4 needed per leg - Screw spacer - Covers bolt covering space between
inner driveandleg sectionorfoot section. 2 needed per leg - Gear - Attaches to servos.
- Recommended to use the
Herring1.55.18t.pressurepart with the original servo horn attached via small screws. Herring1.55.18t.mntalso available which connects without a horn, but this fails easily. 3 needed per leg
- Recommended to use the
- Drive - attaches to top of outer
leg section, connects togearon servo. 2 needed per leg - Foot section - Holds foot servo. 2 needed per leg.
- Inner drive - Used to support
leg sectionagainst joint bolt. 2 needed per leg - Bearing spacer - Inserts between inner bearing and
inner drive. 2 needed per leg.
Hip
- Bearing spacer - Inserts between inner bearing and
inner drive. 1 needed per hip. - Inner drive - Used to support hip against joint bolt. 1 needed per hip
- Screw spacer - Covers bolt covering space between
inner driveandleg section. 1 needed per hip - Drive (half) - Attaches to
hip joint upper. 1 needed per hip
Note: If you find that the servo gear collides with the hip because it is too close (depending on your servo), you can use one of the 'Bearing Spacer' parts to move the leg away from the hip slightly to allow room for better alignment.
Just add the 'Bearing spacer' in between the 'Drive (half)' and the 'Leg section' on the hip joint.
This isn't included in the default configuration assembly, but is a good solution to this problem suggested by the community.
Body
- Body - Current design for body and hip joint. Attach
hipcomponents above.
Neck & Head
- Neck - Attaches to body and houses two micro servos (recommended MG92b). Note that this version must be attached with glue. There is a community variation available that allows for a more permanent attachment.
Head (Pi 5)
The latest version of the head to accommodate the Raspberry Pi 5 and custom PCB
- Head v4 - This is the current version to accommodate the Raspberry Pi 5 and new custom PCB.
Head (Pi 3b+)
The previous version of the head to accommodate the Raspberry Pi 3b+ and custom PCB
- Head - Attaches to neck. Ignore outer shell component as this is WIP. Screws need to be added to mount on neck. This is an export from Fusion 360.
Community Variations
The following files have been created by the community as variations on this design. The verified flag indicates that the design has been printed and tested by another community member besides the creator.
| Part | Image | Creator | Verified? | Files | Note |
|---|---|---|---|---|---|
| Neck | eightyFJ | OnShape | Improvement to neck to allow more permanent attachment to body. Mirror in slicer to print right side | ||
| Face | eightyFJ | OnShape | Improvement to face to allow AI camera to fit more cleanly |